ORB-SLAM2 GPU Optimization GPGPU 2016 Final Project View on GitHub Download.zip Download.tar.gz Video Project Proposal. Enable GPU optimizations in ORBSLAM2 to achieve real time SLAM on the Jetson TX1 embedded computer. Camera trajectory is computed using ORB-SLAM2. Virtual cubes are inserted by the user on detected planes based on reconstructed points by the SLAM system. Hello neighbor mod kit epic games youtube. 本文总结了特征点法slam中目前效果最好的方法：orb-slam2 / orb-slam3 相关改进代码汇总，包括加速、多传感器融合、稠密建图、线特征、点线融合、导航、动态环境、多平台移植等。.

Orb Slam2 Paper
Orb Slam2 Github
Orb Slam2 Python
Orbslam2 Github

Jun 12, 2017 Abstract: We present ORB-SLAM2, a complete simultaneous localization and mapping (SLAM) system for monocular, stereo and RGB-D cameras, including map reuse, loop closing, and relocalization capabilities. With ORBSLAM2, it would be possible to get the pose and publish it on TF. Configure movebase to use this frame through TF, so that navigation knows where the robot is. For the map, ORBSLAM2 doesn't provide a 2D occupancy grid out-of-the-box, not sure how you can generate one.

[Submitted on 3 Feb 2015 (v1), last revised 18 Sep 2015 (this version, v2)]

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Abstract: This paper presents ORB-SLAM, a feature-based monocular SLAM system thatoperates in real time, in small and large, indoor and outdoor environments. Thesystem is robust to severe motion clutter, allows wide baseline loop closingand relocalization, and includes full automatic initialization. Building onexcellent algorithms of recent years, we designed from scratch a novel systemthat uses the same features for all SLAM tasks: tracking, mapping,relocalization, and loop closing. A survival of the fittest strategy thatselects the points and keyframes of the reconstruction leads to excellentrobustness and generates a compact and trackable map that only grows if thescene content changes, allowing lifelong operation. We present an exhaustiveevaluation in 27 sequences from the most popular datasets. ORB-SLAM achievesunprecedented performance with respect to other state-of-the-art monocular SLAMapproaches. For the benefit of the community, we make the source code public.

Submission history

From: Raul Mur-Artal [view email]
[v1] Tue, 3 Feb 2015 18:52:23 UTC (3,614 KB)
[v2]

Orb Slam2 Paper

Fri, 18 Sep 2015 09:50:11 UTC (3,827 KB)
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Raul Mur-Artal
J. M. M. Montiel
Juan D. Tardós

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ORB-SLAM2 Code (+ Theory) Analysis (1): Enter MONO_EUROC Main Function

tags: ORB-SLAM analysis

table of Contents

To understand the code implementation of a system, always start with the framework of the system, the system framework of the orb-slam2 is shown below:

Orb Slam2 Python

We can see that Tracking lineCheng Zhong didExtract ORB features, initial position estimation, etc.Then this thread should belong to 'front-end VO' in the SLAM;Local mapping thread There are local bars, we can know that this thread belongs to the backend, mainly do backend optimization and building work;Loop closing threadIt can be judged from the literal meaning to be looped, divided into loop detection and looping correction. Then need to know that the TRACKING thread receives a frame of one frame after the picture starts working, and the keyframe received by the local mapping thread is from the Tracking thread 'Processing', the loop closing thread is also receiving local mapping thread 'further processing refining' of KeyFrame Come work.

note:Local mapping threadStartingKeyframe Operate!

Remaining problem:Place Recognition and MAP What is it? Next interpretation

mono_euroc.ccThe main functions of the file are as follows

cd orb_slam/src/ORB_SLAM2 // My program is placed in ORB_SLAM / SRC / ORB_SLAM2

Run the program input:

argv[0] argv[1] argv[2] argv[3] argv[4]

./Examples/Monocular/mono_eurocVocabulary/ORBvoc.txtExamples/Monocular/EuRoC.yaml /home/hltt3838/EuRoC_data/MH_01_easy/mav0/cam0/dataExamples/Monocular/EuRoC_TimeStamps/MH01.txt

analysis:The program is easy to understand, mainlyRead image information, initialization system, tracking images, etc.The thinking map of the program is shown below:

Learning program 1:void LoadImages( )

understanding:

The program is well written, but it is necessary to pay attention to how to read the image according to its own image data. The corresponding time series is based on its image data. The above program name is as follows. :

The following program is converted into a unit: seconds

vTimeStamps.push_back(t/1e9); // Conversion unit: second, specifically see MH01.TXT

Learning program 2: ORB_SLAM2::System SLAM( )

This program isSystem.cc Inside the program, the specific analysis will look at:https://mp.csdn.net/editor/html/115089937

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ORB-SLAM2 from theory to implement the code (G): Tracking.cc Detailed Program (in)

My mailbox [email protected], please share! This blog connected to a content, and continue to look at tracking thread. void Tracking :: MonocularInitialization () (StereoInitialization () For ..

Welcome to exchange, my mailbox [email protected] I will write about ORBextractor.cc, ORBmatcher.cc and Frame.cc before writing Tracking.cc's blog. Three feature extraction and matching 1. Theoretica..

ORB-SLAM2 code reader (a)

ORB-SLAM2 code reader (a) Total Code Logic reference:ORB-SLAM2 explain (a) Introduction ORB-SLAM is divided into three threads, respectively, Tracking, LocalMapping and LoopClosing. Three threads are ..

Stored in Examples are example programs based on monocular, binocular, and RGBD. The include folder stores header files, ORB-SLAM2 can be used as a library, and many functions can be called directly T..

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